Gripping apparatus

ABSTRACT

An improved gripping and pinching device particularly useful with laboratory glassware and adaptable for use with a robot or automated system, is disclosed. The device uses flexible tubing as a gripper, eyedropper pincher and as a pinch valve which biases and releases test tubes, vials or the like upon removal and application of a vacuum or pressurizing means.

BACKGROUND OF THE INVENTION

This invention relates to a novel gripping apparatus of the type used,for example, on remote manipulators and robotic devices. The gripperinvolves a simple but highly efficient way to grasp test tubes, vialsand other lab vessels while a robot or automated system performs otheroperations on said test tube, vial or other lab ware. Additionally, theapparatus can be used as a pincher for working an eyedropper bulb or asa pinch valve to control the flow of liquids.

In recent years, a considerable amount of work has gone into laboratoryrobots. Systems have been developed for robotic methods for carrying outautomatic pipetting, filtering, dilutions, spectrometry, titrations ofvarious sorts, and other automatic procedures involving organicsyntheses, testing and sample preparations. Much of the robot-automatedwork is preparative in nature and relates to use in analytical systemsfor a wide variety of applications such as analyses of polymers, foodsamples, extraction of drugs from biological fluids, etc.

As the work in laboratory robotics advanced, various devices have beendeveloped which put increased demand on the equipment normallyassociated with robotic manipulation. U.S. Pat. No. 4,607,196, forexample, discloses a bottle capper which requires that a gripper of labcontainers hold the container sufficiently tight to allow the unscrewingof container caps. U.S. Pat. No. 4,740,025 discloses a compound gripperdevice that assures release of a smooth article from a high-frictiongripping surface which often tends to adhere to the article beinggripped. This device is allegedly useful for different types ofcontainers.

However, none of the previous devices combine the high-friction grippingof the present invention with a simple, elegant, low-cost mechanism.

SUMMARY OF THE INVENTION

This invention relates to a novel gripping apparatus for gripping testtubes, vials and the like which comprises a housing element containing aplurality of chambers for holding said test tubes, vials or the like andrecessed beneath said housing, an area containing flexible tubing ableto bias said test tubes, vials or the like upon removal of vacuum orother pressurizing means and able to release said test tubes, vials orthe like upon application of said vacuum or other pressurizing means.

This invention also relates to a novel pinching apparatus which may beused with a number of eyedroppers or the like where aspirating anddispensing are necessary. Additionally, this invention relates to anovel type of pinch valve for use in a laboratory environment.

It is contemplated that the invention may be used in its embodiment as atube gripper when temperature control of the tubes, vials or the like isnecessary. Heated or cooled water can circulate through the flexibletubing while the vessel is being held. When the vacuum means is applied,the water is displaced and the vessel is released. Additionally, it iscontemplated that this invention would be useful in the handling ofradioactive or other types of hazardous materials because of its simple,but effective design and easy disposal in the event of contamination.

Other uses of the invention will be obvious to those skilled in the artupon consideration of this disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

This invention is illustrated in the drawings wherein:

FIG. 1a illustrates the invention with the flexible tubing unbiased inthe tube gripping aspect of the invention.

FIG. 1b illustrates the invention with the flexible tubing biased in thetube gripping aspect of the invention.

FIG. 2 is a top view of the housing with two holes for different sizevessels with the tubing biased.

FIG. 3a illustrates the use as an eyedropper pincher with the flexibletubing biased.

FIG. 3b illustrates the use as an eyedropper pincher with the flexibletubing unbiased.

FIG. 4a illustrates the use as a pinch valve with the vacuum meanspresent.

FIG. 4b illustrates the use as a pinch valve with the vacuum meansremoved.

DETAILED DESCRIPTION OF THE INVENTION

Referring more particularly to the drawings, wherein like numbersdesignate like parts throughout, the number 10 designates generally thehousing portion of the gripping embodiment of the invention.

Referring to FIG. 2, the housing 10 includes two longitudinal edges 18attached to the bottom side of the housing surface 40. Also attached tothe bottom side of the housing surface 40 at each end thereof are tabs22 for placing the flexible tubing 12. 0n the top of the housing surface40, spaced suitably to permit the manipulation of the vessels, arechambers 14 and 16 for holding said vessels.

The housing 10 may be made out of any suitable material, in particularHDPE, aluminum or Delrin®, and the housing surface may be of such a sizeas to permit a plurality of different sized tubes to be gripped by theflexible tubing. The housing is preferably a single piece of machinedplastic with the longitudinal walls and tabs formed in the machiningprocess. This is preferred to avoid the use of any adhesive or othersuitable attaching means which would not be as strong as a singlemachined piece. Optionally, the longitudinal edges 18 can be angled suchthat-the tubing 12 is better able to bias different sized vessels whichare placed in the housing. However, the tubes must be within theposition of the flexible tubing and the location of the vessel inchambers 14 and 16 in such a way that when the flexible tubing ispressurized or vented to the atmosphere, the tubing's elasticity willcause the tubing to partially wrap around the vessel, firmly grippingit. When the flexible tubing is evacuated, the tubing will collapse,releasing contact with the vessel.

The flexible tubing 12 can be made out of silicon rubber or any type ofrubber that is resilient and retains elasticity upon repeatpressurization.

The tubing is arranged such that the two open ends are connected to thevacuum means and the looped end is around one of the tabs 22 in such amanner as to prevent slippage of the tubing.

The particular vacuum or pressure means used to bias and unbias theflexible tubing are not shown because these devices are generally knownin the art.

The particular means to control the vacuum or other pressure means isnot shown because it forms no part of the invention and many such meansare known in the art.

Referring to FIG. 3a, the eyedropper 50 is positioned in a housing 60 ofany type which is adaptable to a robot or automated system. Flexibletubing 52 is positioned in such a way so it is able to contact theeyedropper squeeze bulb 54 when the vacuum is removed. Upon applicationof the vacuum, the flexible tubing flattens and the eyedropper's bulbexpands to suction the fluid.

In a third embodiment of the invention, referring to FIGS. 4a and 4b, apneumatic pinch valve is shown. Vessel 62 is held in a housing 70 of thetype which is adaptable to a robot or automated system. Flexible tubing64 is positioned on each side of a flexible exit tube 66. When a vacuumis applied, the flexible tubing 64 collapses releasing the flexible exittube 66. When a vacuum is removed, the flexible tubing 64 squeezesagainst the flexible exit tube 66 and flattens it resulting in apinching effect which stops the release of fluid from the exit tube.

Obviously, many modifications and variations of the present inventionare possible in light of the foregoing teaching. It is to be understood,therefore, that within the scope of the appended claims, the presentinvention may be practiced otherwise than as is specifically disclosedherein.

What is claimed is:
 1. A tool for gripping and releasing test tubes,vials and the like which comprises:a) a housing element containing aplurality of chambers for holding said tubes, vials and the like; b) aloop of flexible tubing mounted within the housing element such that itis in position to contact the tubes, vials and the like when expanded;c) biasing means to effectuate the expanding and contracting of theflexible tubing in order to grip and release the test tubes, vials andthe like.
 2. The tool as claimed in claim 1 wherein said biasing meanscomprises hydraulic means, pneumatic means or a vacuum.
 3. The tool asclaimed in claim 2 wherein said hydraulic means comprises a water linein order to control the temperature of the material within the tube,vial and the like being contacted.
 4. The tool as claimed in claim 1which can optionally be adapted to a laboratory robot or other automatedsystem.